Talks and Poster Presentations (with Proceedings-Entry):
S. Ito, S. Pirker, G. Schitter:
"Integrated PWM-driven motion system for high positioning resolution and low energy dissipation";
Talk: IEEJ International Workshop on Sensing, Actuation, Motion Control and Optimization (SAMCON),
- 03-16-2020; in: "Proceedings of the IEEJ International Workshop on Sensing, Actuation, Motion Control and Optimization (SAMCON)",
This paper proposes an integrated mechatronic system design that realizes insensitivity to the current ripple of a switching current amplifier to drive electromagnetic actuators in high-precision motion systems. Switching current amplifiers are desirable for high energy efficiency with a concern that the resulting current ripple impairs the achievable positioning resolution. For a demonstration to eliminate this concern, a motion system is developed based on a flexure-guided voice coil actuator, which is driven by a switching current amplifier. Onto the mover, a resonator is mounted, creating an antiresonance at 11.3 kHz. This antiresonance is used to absorb the mover vibrations stemming form the current ripple. In order to do so, pulse width modulation (PWM) is used in the current amplifier such that the switching frequency is accurately tuned to the antiresonant frequency. Experiments reveal that the developed switching current amplifier reduces the power loss by a factor of 5.6 in comparison with a comparable linear current amplifier. However, the switching current amplifier creates a current ripple of 0.77A and oscillates the mover, resulting in the parasitic vibration of 5.1 nm. Using the antiresonance successfully eliminates this vibration, improving the positioning resolution by a factor of three to 1.6 nm.
Nanopositioner, Motion control, PWM amplifier, Mechatronics
Created from the Publication Database of the Vienna University of Technology.